The Queen has appeared as a hologram waving to the crowds from the Gold State Coach during the London street pageant which also featured an eclectic mix of dancers, daleks and Danger Mouse.

In one of the main highlights of the Platinum Jubilee celebrations, the coach, flanked by guardsmen on horseback, featured archival footage of Her Majesty, making it seem as if she was inside.

The same 260-year-old carriage had taken her to and from her coronation in 1953.

The three-kilometre parade, which went past Buckingham Palace, was divided into four acts, the first featuring a military procession.

Royal children make cakes for street party – see live updates

Around 10,000 people were involved, including a cast of 6,000 performers, and also a vast array of celebrities on the fourth and final day of the jubilee weekend marking the Queen’s 70 years on the throne.

The Prince of Wales, the Duchess of Cornwall, and the Duke and Duchess of Cambridge along with their three children, Prince George, Princess Charlotte, and Prince Louis, were among the dignitaries in the royal box to watch the festivities.

The Queen, 96, was not there but royal fans were later treated to an appearance by her on the Buckingham Palace balcony at the culmination of the extended bank holiday weekend.

Guardsmen, Gurkhas, Royal Marines and the Household Cavalry Mounted Regiment in their breastplates and plumed feathers were among the hundreds of servicemen and women who led the way marching along the streets.

A peloton of 300 cyclists, riding vintage bikes from across the seven decades of the Queen’s reign, travelled down The Mall led by Sir Chris Hoy and cycling golden couple Dame Laura and Sir Jason Kenny.

Also in the street carnival extravaganza, celebrities, including singers Sir Cliff Richard and Katherine Jenkins, athlete Sir Mo Farah, boxer Chris Eubank, and DJ Tony Blackburn, travelled in decorated open-top double decker buses for the decade-by-decade celebrations.

The four acts in the pageant were: For Queen And Country, The Time Of Our Lives, Let’s Celebrate, and Happy And Glorious.

The military parade involved 1,750 people and 200 horses – one of the biggest spectacles in British history – from the Army, Navy, RAF, and the Commonwealth.

The second act was a “vibrant display of British life since 1972” and a celebration of culture, music, and technology of the past 70 years.

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There were vintage and modern Aston Martins as well as Sinclair C5s – the ill-fated single-seater pedal-electric vehicles from the 1980s, and JCB trucks, along with a three-wheeler from the TV comedy show Only Fools and Horses, and daleks, made famous in Doctor Who.

Morris Minor cars, rockers on classic motorbikes and Mods on scooters also featured, along with dancers showcasing different decades.

Bake Off judge Dame Prue Leith had some bad luck when the car she was in broke down and had to be pushed.

Some people were bouncing along on space hoppers from the 80s, and one of the trucks included cartoon characters, such as Postman Pat, Peppa Pig, Danger Mouse and the Tellytubbies.

There were also performers singing tracks including Dancing Queen by Abba.

The third section, Let’s Celebrate, told the story of the Queen’s life in 12 chapters, with a nod to her corgis and her beloved horses.

The final act took place in front of the palace around the Queen Victoria Memorial, with Ed Sheeran performing a musical tribute.

Around 200 ‘national treasures’ also took to the stage and sang the national anthem at the finale of the festivities, led by a gospel choir and the Band of Her Majesty’s Royal Marines.

The parade comes as millions of people across the UK took part in patriotic street parties, picnics and barbecues.

At The Oval cricket ground in south London, Prince Charles and the Duchess of Cornwall attended a Big Jubilee Lunch, along with around 500 other guests, including 70 “platinum champions” from the Royal Voluntary Service and celebrity ambassadors for the charity.

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